#include <YoYo.h>

Inheritance diagram for YoYo:

Collaboration diagram for YoYo:

Public Member Functions
	YoYo (const Str &prefix, const Module *module)

virtual	~YoYo ()

void	initialize (void)
	Initialize function. More...

bool	isSatisfied ()
	Returns true when vehicle is starting to inflect. More...

bool	runIfUnsatisfied ()
	runs only if unsatisfied More...

void	run ()
	The actual "payload" of the component. More...

void	uninitialize (void)
	Uninit function. More...

Public Member Functions inherited from Behavior
virtual	~Behavior ()

bool	executeIfUnsatisfied ()
	Combined run and test with metrics generation. More...

virtual void	preempted ()

virtual bool	isRunnable ()

virtual bool	isSatisfiable ()

virtual bool	isCommand ()

BehaviorState	getBehaviorState () const

void	setBehaviorState (BehaviorState behaviorState)

virtual bool	isCompleted (void)
	Query if this component is completed. More...

SettingReader *	findSettingReader (const Str &settingURI)

SettingReader *	addValueClause (const Str &uriPart, ValueClause *valueClause)

void	addArgWriter (const Str &uriPart, DataWriter *argWriter)

const Timespan &	getTimeout ()

void	setTimeout (const Timespan &timeout)

Public Member Functions inherited from Component
virtual	~Component ()
	Destructor cleans up readers_ and writers_. More...

void	registerReader (DataReader *reader)

void	unregisterReader (DataReader *reader)

void	registerWriter (DataWriter *writer)

void	unregisterWriter (DataWriter *writer)

void	disableMetering (void)

FlexArray< DataReader * > &	getReaderList (void)

FlexArray< DataWriter * > &	getWriterList (void)

const Module *	getModule ()

virtual void	configure ()
	Read (or re-read!) configuration settings. More...

virtual void	execute (void)

bool	isActive () const
	Indicates if the component is active. More...

const CodedStr &	getName (void) const
	Returns the name. More...

const Timestamp &	getTimeOfLastRun (void) const

ComponentState	getState (void)
	Return the component's current state. More...

void	setState (ComponentState state)

RunState	getRunState (void)
	Return the component's run state. More...

bool	isUsingRunState ()
	Return true if using runState. More...

void	requestData (bool requestingData)
	Tell the component to start (or stop) sending data. More...

void	requestStart ()
	Tell the component to start runnning. More...

void	requestPause (const Timespan expectedPauseTime)
	Tell the component to pause runnning. More...

void	requestResume ()
	Tell the component resume from pause. More...

void	requestStop ()
	Tell the component to stop runnning. More...

virtual RunState	start ()
	Do what needs to be done to run Similar to initialize, in old init/run/uninit sequence. More...

virtual RunState	starting ()
	Might follow a STOP...START sequence Subseqent. More...

virtual RunState	runnable ()
	Should eventually follow a START request or RESETTING. More...

virtual RunState	satisfied ()
	Possible return value of a Behavior. More...

virtual RunState	pause ()
	Pause for a short period (indicated by pauseTime) More...

virtual RunState	pausing ()
	Might follow a PAUSE request. More...

virtual RunState	paused ()
	Should eventually follow a PAUSE request: should set continueTime. More...

virtual RunState	resume ()
	Resume from PAUSE. More...

virtual RunState	resuming ()
	Might follow a PAUSE...RESUME sequence. More...

virtual RunState	resetting ()
	Might occur in case of Error. More...

virtual RunState	stop ()
	Initial state – can be later followed by START. More...

virtual RunState	stopping ()
	Might follow a STOP request. More...

virtual RunState	stopped ()
	Should eventually follow a STOP request. More...

void	setCriticalFailureReported (bool boolVal)

void	setRecoveringFromCritical (bool boolVal)

void	setFailureReported (bool boolVal)

bool	isFailureUninitialized ()

void	setFailureUninitialized (bool boolVal)

void	setRetryTimeout (const Timespan &timeout)

void	setPeriod (const Timespan &period)
	Set the period of this component... used if it is periodic. More...

const Timespan &	getPeriod (void)
	Returns the component's period (regardless of whether it is periodic) More...

ComponentType	getComponentType ()
	Getter function for ComponentType. More...

virtual bool	isFailed (void) const

virtual FailureMode::FailType	getFailureType (void) const

virtual bool	getCriticalFailureReported (void) const

virtual bool	getFailureReported (void) const

virtual Timespan	getRetryTimeout (void) const

virtual FailureMode::FailType	setFailure (FailureMode::FailType failureType)

virtual int	getFailCount (void) const

virtual bool	isFailureMissionCritical ()

virtual int	getAllowableFailures (void) const

virtual void	setAllowableFailures (int fails)

Logger &	getLogger (void)

virtual int	incrementFailCount (void)

virtual void	resetFailCount (void)

virtual int	getSkippedRunsSinceFail (void) const

virtual int	incrementSkippedRunsSinceFail (void)

virtual void	logVoltage (float voltage, float averageVoltage)

virtual void	logCurrent (float current, float averageCurrent)

const Timestamp &	getWriteTimestamp (void)

void	setWriteTimestamp (const Timestamp &writeTimestamp)

BlobReader *	newBlobReader (const BlobURI &blobURI)

BlobReader *	newBlobReaderFromUniversal (const Str &componentName, const UniversalBlobURI &blobURI)

BlobWriter *	newBlobWriter (const BlobURI &blobURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

ConfigReader *	newConfigReader (const ConfigURI &configURI)

DataReader *	newDataReader (const DataURI &dataURI)

DataReader *	newDataReaderFromUniversal (const Str &componentName, const UniversalURI &universalURI)

DataWriter *	newDataWriter (const DataURI &dataURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

UniversalBlobReader *	newUniversalBlobReader (const UniversalBlobURI &universalURI)

UniversalBlobWriter *	newUniversalBlobWriter (const UniversalBlobURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

UniversalDataReader *	newUniversalReader (const UniversalURI &universalURI)

UniversalDataWriter *	newUniversalWriter (const UniversalURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

Static Public Member Functions
static Behavior *	CreateBehavior (const Str &prefix, const Module *module)
	Mission Component factory interface. More...

Protected Member Functions
void	writeCmds ()

bool	calcSatisfied ()

void	readConfig ()

void	readSettings ()

bool	calculate ()

float	adjustDepthRate (float depthRate, bool goDown)

void	setGoingDown (bool goingDown)

Protected Member Functions inherited from Behavior
	Behavior (const Str &name, const Module *module, const bool runnable, const bool satisfiable)
	Protected constructor for abstract base class. More...

	Behavior (const Behavior &old)

SettingReader *	newSettingReader (const Str &uriPart, const DataValue *defaultValue, bool deleteDefaultValue=true)

SettingReader *	newSettingReader (const SettingURI &uriPart)

DataWriter *	findArgWriter (const OutputURI &uriPart)

Protected Member Functions inherited from Component
virtual ConfigURI	getConfigURI (ConfigOption configOption) const
	Should return [myNamespace]::SIMULATE_HARDWARE, or [myNamespace]::POWER, etc. More...

virtual ConfigURI	getConfigURI (ConfigOption configOption, ElementURI forElement) const
	Should return [myNamespace]::POWER_[forElement], [myNamespace]::LATENCY_[forElement], etc. More...

virtual void	setDurationOfLastRun (const Timespan &span)

virtual void	setTimeOfRun (const Timestamp &time)

virtual void	setTimeOfLastRun (const Timestamp &time)

virtual void	setDt (const Timespan &dt)

virtual bool	setEnabled (bool enabled=true)

void	setRunState (const RunState runState)

const Timespan	getPauseTime () const

virtual void	setFailureMissionCritical (bool failureMissionCritical)

bool	simulateHardware ()

Protected Attributes
ConfigReader *	pitchLimitCfgReader_

ConfigReader *	maxDiveRateCfgReader_

ConfigReader *	maxBuoyDiveRateCfgReader_

DataReader *	verticalModeReader_
	Current vertical control depth mode. More...

DataReader *	depthRateCmdReader_
	Current vertical control depth rate command. More...

DataReader *	pitchCmdReader_
	Current vertical control pitch command. More...

DataReader *	speedCmdReader_
	Current speed control speed command. More...

SettingReader *	pitchSettingReader_
	Behavior pitch setting. More...

SettingReader *	downPitchSettingReader_

SettingReader *	upPitchSettingReader_

SettingReader *	depthRateSettingReader_

SettingReader *	downDepthRateSettingReader_

SettingReader *	upDepthRateSettingReader_

SettingReader *	satisfiedThresholdSettingReader_

UniversalDataReader *	depthReader_
	Current depth. More...

UniversalDataReader *	depthRateReader_
	Current depth rate. More...

UniversalDataReader *	pitchReader_
	Current pitch. More...

DataWriter *	verticalModeWriter_
	Sets the vertical mode for VerticalControl. More...

DataWriter *	depthRateCmdWriter_
	Sets the depth rate for VerticalControl. More...

DataWriter *	pitchCmdWriter_
	Sets the pitch for VerticalControl. More...

float	downPitchSetting_
	Desired "down" pitch of the vehicle. More...

float	upPitchSetting_
	Desired "up" pitch of the vehicle. More...

float	downDepthRateSetting_
	Desired "down" depth rate of the vehicle. More...

float	upDepthRateSetting_
	Desired "up" depth rate of the vehicle. More...

float	satisfiedThresholdSetting_
	Minimum depth change required to enable sequence behavior to be satisfied. More...

float	maxDiveRate_
	Maximum dive rate of the vehicle. More...

float	maxBuoyDiveRate_
	Maximum dive rate of the vehicle under only buoyancy control. More...

float	speedCmd_
	Current speed cmd. More...

bool	initialized_
	Indicates initialization success. More...

bool	goingDown_
	True if going down. More...

bool	satisfied_

bool	ranOnce_

float	startDepth_

VerticalControlIF::VerticalMode	verticalMode_
	Command to set verticalMode. More...

float	pitchCmd_
	Command to set pitch. More...

float	depthRateCmd_
	Command to set depth rate. More...

Protected Attributes inherited from Behavior
bool	runnable_

bool	satisfiable_

BehaviorState	behaviorState_

Timespan	timeout_
	Time before this behavior must end – defaults no timeout. More...

FastMap< const Str, SettingReader * > *	settingReaderMap_

FastMap< const Str, DataWriter * > *	argWriterMap_

Protected Attributes inherited from Component
Logger	logger_

Syslog::Severity	debugLevel_

ComponentState	state_
	Keep track of whether the component has "completed" or should be run again. More...

Timespan	desiredPeriod_

CodedStr &	name_
	Store the component's name (used for logging purposes) More...

Timestamp	timeOfRun_

Timestamp	timeOfLastRun_

Timespan	durationOfLastRun_

Timespan	dt_

Timespan	retryTimeout_

bool	enabled_

bool	failureReported_
	Indicates if the failure has been reported – cuts down on syslog. More...

bool	criticalFailureReported_
	Indicates if a "Critical" failure has been reported – cuts down on syslog. More...

bool	recoveringFromCritical_
	Indicates that a component had a previous critical failure that has been cleared temporarily awaiting final word from the component itself. More...

bool	failureUninitialized_
	Indicates if the failure has resulted in an uninitialize call. More...

int	failCount_
	Number of failures logged by PCaller. More...

bool	failureMissionCritical_
	If true (default), complete failure ends mission. More...

int	allowableFailures_
	Number of failures allowed to occur. More...

int	skippedRunsSinceFail_
	Number of skipped runs since failureMode_ set by failCount_. More...

FailureMode::FailType	failureType_
	Failed status. If failCount_ > 0, then this may be reset. More...

Timestamp	timeOfFailure_
	Time of last failure. Relevant only if failed=true. More...

Timestamp	writeTimestamp_
	Time of last write. More...

FlexArray< DataReader * >	readers_

FlexArray< DataWriter * >	writers_

const Module *	module_

Timespan	pauseTime_

bool	meteringEnabled_
	If true, metering is enabled. More...

DataWriter *	durationOfLastRunWriter_
	Writer for durationOfLastRun. More...

DataWriter *	voltageWriter_

DataWriter *	avgVoltageWriter_

DataWriter *	currentWriter_

DataWriter *	avgCurrentWriter_

bool	persistentPause_
	True if data is persistent while component is paused. More...

Private Member Functions
	YoYo (const YoYo &old)

Additional Inherited Members
Public Types inherited from Behavior
enum	BehaviorState { BEHAVIOR_INACTIVE, BEHAVIOR_CALLED, BEHAVIOR_ACTIVE, BEHAVIOR_TIMEOUT, BEHAVIOR_COMPLETED }

Public Types inherited from Component
enum	ComponentState { BLOCK_CONTINUOUS, BLOCK_PERIODIC, BLOCK_NORMAL, BLOCK_COMPLETED, BLOCK_UNKNOWN }
	In this model, the component has basically two states: wanting to run, and completed (no longer needing to run). More...

enum	ComponentType { COMPONENT_ASYNC, COMPONENT_CONFIG, COMPONENT_BEHAVIOR, COMPONENT_SYNC }
	Components can indicate how they want to be handled by their type. More...

enum	RunState { NO_RUN_STATE = 0, START, STARTING, RUNNABLE, SATISFIED, PAUSE, PAUSING, PAUSED, RESUME, RESUMING, RESETTING, STOP, STOPPING, STOPPED }

Protected Types inherited from Component
enum	ConfigOption { CONFIG_SIMULATE_HARDWARE, CONFIG_POWER, CONFIG_FREQUENCY, CONFIG_LATENCY }

Detailed Description

Contains the YoYo Behavior.

YoYo is very simple – it simply causes the vehicle to descend as quickly as possible when it it pointing down, and to ascend as quickly as possible when it is pointing up. An outer DepthEnvelope is responsible for causing the inflections at the top and bottom of the yo-yos.

YoYo.h should only be included by YoYo.cpp Other classes should include YoYoIF.h

Constructor & Destructor Documentation

YoYo::YoYo	(	const Str &	prefix,
		const Module *	module
	)

YoYo::~YoYo ( )

virtual

YoYo::YoYo ( const YoYo & old )

private

Member Function Documentation

float YoYo::adjustDepthRate	(	float	depthRate,
		bool	goDown
	)

protected

References maxBuoyDiveRate_, maxDiveRate_, and speedCmd_.

Referenced by calculate().

bool YoYo::calcSatisfied ( )

protected

References satisfied_.

Referenced by isSatisfied().

bool YoYo::calculate ( void )

protected

Referenced by isSatisfied(), run(), and runIfUnsatisfied().

Behavior * YoYo::CreateBehavior	(	const Str &	prefix,
		const Module *	module
	)

static

Mission Component factory interface.

References YoYo().

Referenced by GuidanceModule::loadComponents().

void YoYo::initialize ( void )

virtual

Initialize function.

Reimplemented from Component.

References depthRateReader_, depthReader_, downDepthRateSetting_, downPitchSetting_, goingDown_, initialized_, Component::logger_, pitchReader_, ranOnce_, readSettings(), UniversalDataReader::requestData(), satisfied_, satisfiedThresholdSetting_, Logger::syslog(), upDepthRateSetting_, and upPitchSetting_.

bool YoYo::isSatisfied ( )

virtual

Returns true when vehicle is starting to inflect.

Reimplemented from Behavior.

References calcSatisfied(), and calculate().

void YoYo::readConfig ( void )

protected

References downPitchSetting_, maxBuoyDiveRate_, maxBuoyDiveRateCfgReader_, maxDiveRate_, maxDiveRateCfgReader_, Units::METER_PER_SECOND, pitchLimitCfgReader_, Units::RADIAN, DataReader::read(), and upPitchSetting_.

Referenced by calculate(), and YoYo().

void YoYo::readSettings ( void )

protected

References depthRateSettingReader_, downDepthRateSetting_, downDepthRateSettingReader_, downPitchSetting_, downPitchSettingReader_, SettingReader::isActive(), Units::METER, Units::METER_PER_SECOND, pitchSettingReader_, Units::RADIAN, SettingReader::read(), satisfiedThresholdSetting_, satisfiedThresholdSettingReader_, upDepthRateSetting_, upDepthRateSettingReader_, upPitchSetting_, and upPitchSettingReader_.

Referenced by calculate(), and initialize().

void YoYo::run ( void )

virtual

The actual "payload" of the component.

Reimplemented from Component.

References calculate(), and writeCmds().

bool YoYo::runIfUnsatisfied ( void )

virtual

runs only if unsatisfied

Reimplemented from Behavior.

References calculate(), Syslog::INFO, Component::logger_, satisfied_, Logger::syslog(), and writeCmds().

void YoYo::setGoingDown ( bool goingDown )

protected

References depthReader_, goingDown_, Units::METER, ranOnce_, DataReader::read(), satisfied_, satisfiedThresholdSetting_, and startDepth_.

Referenced by calculate().

void YoYo::uninitialize ( void )

virtual

Uninit function.

Reimplemented from Component.

References depthRateReader_, depthReader_, initialized_, Component::logger_, pitchReader_, UniversalDataReader::requestData(), and Logger::syslog().

void YoYo::writeCmds ( )

protected

References depthRateCmd_, depthRateCmdWriter_, Units::ENUM, VerticalControlIF::NONE, pitchCmd_, pitchCmdWriter_, Units::RADIAN, verticalMode_, verticalModeWriter_, and DataWriter::write().

Referenced by run(), and runIfUnsatisfied().

Member Data Documentation

float YoYo::depthRateCmd_

protected

Command to set depth rate.

Referenced by calculate(), and writeCmds().

DataReader* YoYo::depthRateCmdReader_

protected

Current vertical control depth rate command.

Referenced by calculate(), and YoYo().

DataWriter* YoYo::depthRateCmdWriter_

protected

Sets the depth rate for VerticalControl.

Referenced by writeCmds(), and YoYo().

UniversalDataReader* YoYo::depthRateReader_

protected

Current depth rate.

Referenced by calculate(), initialize(), uninitialize(), and YoYo().

SettingReader* YoYo::depthRateSettingReader_

protected

Referenced by readSettings(), and YoYo().

UniversalDataReader* YoYo::depthReader_

protected

Current depth.

Referenced by calculate(), initialize(), setGoingDown(), uninitialize(), and YoYo().

float YoYo::downDepthRateSetting_

protected

Desired "down" depth rate of the vehicle.

Referenced by calculate(), initialize(), and readSettings().

SettingReader* YoYo::downDepthRateSettingReader_

protected

Referenced by readSettings(), and YoYo().

float YoYo::downPitchSetting_

protected

Desired "down" pitch of the vehicle.

Referenced by calculate(), initialize(), readConfig(), and readSettings().

SettingReader* YoYo::downPitchSettingReader_

protected

Referenced by readSettings(), and YoYo().

bool YoYo::goingDown_

protected

True if going down.

Referenced by calculate(), initialize(), and setGoingDown().

bool YoYo::initialized_

protected

Indicates initialization success.

Referenced by calculate(), initialize(), and uninitialize().

float YoYo::maxBuoyDiveRate_

protected

Maximum dive rate of the vehicle under only buoyancy control.

Referenced by adjustDepthRate(), and readConfig().

ConfigReader* YoYo::maxBuoyDiveRateCfgReader_

protected

Referenced by readConfig(), and YoYo().

float YoYo::maxDiveRate_

protected

Maximum dive rate of the vehicle.

Referenced by adjustDepthRate(), and readConfig().

ConfigReader* YoYo::maxDiveRateCfgReader_

protected

Referenced by readConfig(), and YoYo().

float YoYo::pitchCmd_

protected

Command to set pitch.

Referenced by calculate(), and writeCmds().

DataReader* YoYo::pitchCmdReader_

protected

Current vertical control pitch command.

Referenced by calculate(), and YoYo().

DataWriter* YoYo::pitchCmdWriter_

protected

Sets the pitch for VerticalControl.

Referenced by writeCmds(), and YoYo().

ConfigReader* YoYo::pitchLimitCfgReader_

protected

Referenced by readConfig(), and YoYo().

UniversalDataReader* YoYo::pitchReader_

protected

Current pitch.

Referenced by initialize(), uninitialize(), and YoYo().

SettingReader* YoYo::pitchSettingReader_

protected

Behavior pitch setting.

Referenced by readSettings(), and YoYo().

bool YoYo::ranOnce_

protected

Referenced by calculate(), initialize(), and setGoingDown().

bool YoYo::satisfied_

protected

Referenced by calcSatisfied(), initialize(), runIfUnsatisfied(), and setGoingDown().

float YoYo::satisfiedThresholdSetting_

protected

Minimum depth change required to enable sequence behavior to be satisfied.

Referenced by initialize(), readSettings(), and setGoingDown().

SettingReader* YoYo::satisfiedThresholdSettingReader_

protected

Referenced by readSettings(), and YoYo().

float YoYo::speedCmd_

protected

Current speed cmd.

Referenced by adjustDepthRate(), and calculate().

DataReader* YoYo::speedCmdReader_

protected

Current speed control speed command.

Referenced by calculate(), and YoYo().

float YoYo::startDepth_

protected

Referenced by calculate(), and setGoingDown().

float YoYo::upDepthRateSetting_

protected

Desired "up" depth rate of the vehicle.

Referenced by calculate(), initialize(), and readSettings().

SettingReader* YoYo::upDepthRateSettingReader_

protected

Referenced by readSettings(), and YoYo().

float YoYo::upPitchSetting_

protected

Desired "up" pitch of the vehicle.

Referenced by calculate(), initialize(), readConfig(), and readSettings().

SettingReader* YoYo::upPitchSettingReader_

protected

Referenced by readSettings(), and YoYo().

VerticalControlIF::VerticalMode YoYo::verticalMode_

protected

Command to set verticalMode.

Referenced by calculate(), and writeCmds().

DataReader* YoYo::verticalModeReader_

protected

Current vertical control depth mode.

Referenced by calculate(), and YoYo().

DataWriter* YoYo::verticalModeWriter_

protected

Sets the vertical mode for VerticalControl.

Referenced by writeCmds(), and YoYo().

The documentation for this class was generated from the following files:

/Volumes/ubuntu_share/lrauv-application/Source/guidanceModule/YoYo.h
/Volumes/ubuntu_share/lrauv-application/Source/guidanceModule/YoYo.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation